#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
#include <opencv4/opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <opencv4/opencv2/highgui/highgui.hpp>
#include <sensor_msgs/image_encodings.h>
#include <image_transport/image_transport.h>

namespace detector {


class UsbCamNode
{
private:
    ros::NodeHandle nh_;
    image_transport::ImageTransport it_;
    image_transport::Publisher image_pub_;
    cv::VideoCapture cap_;
    int camera_index_;
    std::string frame_id_;

public:
    UsbCamNode();
    void publishImages();
    ~UsbCamNode();
};




}